.TH "Zebulon::Underwater::GlobalVectorDriver" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
.ad l
.nh
.SH NAME
Zebulon::Underwater::GlobalVectorDriver \- 
.PP
Global Vector Driver Component for Underwater team vehicle.  

.SH SYNOPSIS
.br
.PP
.PP
\fC#include <globalvectordriver.h>\fP
.SS "Public Member Functions"

.in +1c
.ti -1c
.RI "\fBGlobalVectorDriver\fP ()"
.br
.RI "\fIConstructor, sets initial values. \fP"
.ti -1c
.RI "\fB~GlobalVectorDriver\fP ()"
.br
.RI "\fIDestructor. \fP"
.ti -1c
.RI "virtual int \fBStandby\fP ()"
.br
.RI "\fIWhen the vehicle is put into Standby mode, this method is called. \fP"
.ti -1c
.RI "virtual Jaus::Byte \fBGetSetGlobalVectorPresenceVector\fP () const "
.br
.RI "\fIGets the presence vector which indicates what fields of the Set Global Vector message this Global Vector Driver supports. \fP"
.ti -1c
.RI "virtual Jaus::UShort \fBGetSetWrenchEffortPresenceVector\fP () const "
.br
.RI "\fIGets the presence vector which indicates what fields of the Set Wrench Effort message this Global Vector Driver uses. \fP"
.ti -1c
.RI "virtual int \fBGenerateWrench\fP (const Jaus::SetGlobalVector &command, Jaus::SetWrenchEffort &wrench)"
.br
.RI "\fIEvery time a new wrench message needs to be generated, based on the periodic update rate of this component, this method is called. \fP"
.ti -1c
.RI "void \fBPrintCurrentVector\fP () const "
.br
.RI "\fIPrints current heading to the console. \fP"
.in -1c
.SS "Protected Attributes"

.in +1c
.ti -1c
.RI "CxUtils::PIDController \fBmHeadingController\fP"
.br
.RI "\fIPID for heading \fBcontrol\fP. \fP"
.ti -1c
.RI "CxUtils::PIDController \fBmAltitudeController\fP"
.br
.RI "\fIPID for heading \fBcontrol\fP. \fP"
.in -1c
.SH "Detailed Description"
.PP 
Global Vector Driver Component for Underwater team vehicle. 
.SH "Member Function Documentation"
.PP 
.SS "int GlobalVectorDriver::GenerateWrench (const Jaus::SetGlobalVector & command, Jaus::SetWrenchEffort & wrench)\fC [virtual]\fP"
.PP
Every time a new wrench message needs to be generated, based on the periodic update rate of this component, this method is called. \fBParameters:\fP
.RS 4
\fIcommand\fP Set Global Vector to generate a wrench effort for. 
.br
\fIwrench\fP Output parameter which is the wrench effort to send to the Primitive Driver.
.RE
.PP
\fBReturns:\fP
.RS 4
JAUS_OK on success, otherwise JAUS_FAILURE. 
.RE
.PP

.SS "Jaus::Byte GlobalVectorDriver::GetSetGlobalVectorPresenceVector () const\fC [virtual]\fP"
.PP
Gets the presence vector which indicates what fields of the Set Global Vector message this Global Vector Driver supports. \fBReturns:\fP
.RS 4
Presence Vector indicating fields for the Set Global Vector message supported by this component. 
.RE
.PP

.SS "Jaus::UShort GlobalVectorDriver::GetSetWrenchEffortPresenceVector () const\fC [virtual]\fP"
.PP
Gets the presence vector which indicates what fields of the Set Wrench Effort message this Global Vector Driver uses. Since this component is driving the primitive driver of \fBGamblore\fP, it outputs Wrench Effort messages supported by the \fBGamblore\fP Primitive Driver.
.PP
\fBReturns:\fP
.RS 4
Presence Vector indicating fields for the Set Wrench Effort message output by this component. 
.RE
.PP

.SS "int GlobalVectorDriver::Standby ()\fC [virtual]\fP"
.PP
When the vehicle is put into Standby mode, this method is called. This function resets the closed loop controller values, then calls the Standby function of the parent class.
.PP
\fBReturns:\fP
.RS 4
JAUS_OK on success, otherwise JAUS_FAILURE. 
.RE
.PP


.SH "Author"
.PP 
Generated automatically by Doxygen for zebulon from the source code.
